This is the digitally published, citable, archival version of the proceedings for the Robotics: Science & Systems 2006 Workshop - Manipulation for Human Environments. The workshop was held at The Inn at Penn at the University of Pennsylvania, Philadelphia, Pennsylvania, USA on Saturday, August 19th, 2006 as part of the 2006 Robotics: Science & Systems Conference.
This full day workshop explored modern approaches to robot manipulation in human environments. There is a resurgence of interest in robot manipulation as researchers seek to push robot manipulation out of controlled factory settings and into the dynamic and uncontrolled world we inhabit. Robots that successfully manipulate in these environments will require new methods for perception and control. This workshop investigated promising approaches that address the challenges of general manipulation within these domains.
The key issues that must be addressed include: robustness to uncertainty, generalization over tasks, skill acquisition, safety, and human-robot interaction.
This workshop served as a successor to last year's Workshop on Humanoid Manipulation held at Robotics: Science and Systems 2005 (RSS 2005). Although humanoids are well-matched to human environments, other form-factors may be advantageous. The unifying theme for the 2006 workshop was robust operation within human environments.